AP_NavEKF3: fixed getLLH alt for local origin height #22036
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this fixes a bug introduced in ArduPilot#21834 this fix in ArduPilot#21834 was correct for getPosD, but should not have been applied to getLLH this caused cruise mode in plane to descend/ascend by the difference between the public and local origins on mode entry fixes ArduPilot#21984
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I have flight tested this PR, it does fix the TECS altitude issue discussed in #21984 |
peterbarker
approved these changes
Oct 23, 2022
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this fixes a bug introduced in #21834
this fix in #21834 was correct for getPosD, but should not have been applied to getLLH
this caused cruise mode in plane to descend/ascend by the difference between the public and local origins on mode entry
fixes #21984